# Generated by stepconf 1.1 at Wed Oct  4 22:43:09 2017
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,v
loadrt encoder num_chan=1
loadrt abs count=1
loadrt scale count=1
loadrt lowpass count=1
loadrt near

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf encoder.update-counters base-thread
#addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

addf abs.0 servo-thread
addf scale.0 servo-thread
addf lowpass.0 servo-thread
addf near.0 servo-thread

net spindle-cmd-rpm => stepgen.3.velocity-cmd
net spindle-on <= motion.spindle-on
net spindle-pwm <= stepgen.3.step
net spindle-cmd-rpm     <= motion.spindle-speed-out
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps     <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed    => motion.spindle-at-speed
net spindle-cw <= motion.spindle-forward
net spindle-brake <= motion.spindle-brake

setp encoder.0.position-scale 250.000000
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity-feedback-rps encoder.0.velocity => motion.spindle-speed-in
net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
net spindle-phase-a encoder.0.phase-A
net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z

net estop-out       => parport.0.pin-01-out
net xstep           => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir            => parport.0.pin-03-out
net ystep           => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir            => parport.0.pin-05-out
net zstep           => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir            => parport.0.pin-07-out
net spindle-pwm     => parport.0.pin-08-out
net spindle-cw      => parport.0.pin-09-out
net spindle-brake   => parport.0.pin-14-out
net xenable         => parport.0.pin-17-out
net spindle-phase-a <= parport.0.pin-10-in
net spindle-phase-b <= parport.0.pin-11-in
net spindle-index   <= parport.0.pin-15-in

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 36000
setp stepgen.0.dirsetup 36000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 36000
setp stepgen.1.dirsetup 36000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 36000
setp stepgen.2.dirsetup 36000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable


setp stepgen.3.position-scale 100
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared